Question Bank

BE VII

Chapter 1 Introduction to Robotics

1. How are robot classified? 2. Define the following terms w.r.t. Robots : (i} reach (ii) stroke (iv) Degree of freedom (v) Coordinate transformation (vi) Tool orientation (vii) Workspace envelope 3. Define Repeatability, Precision and Accuracy of Robot? Why repeatability is important design characteristics? 4. Write notes on the Robot specification. 5. Compare the basic robot configuration according to the work envelope and applications. 6. Explain Reach and stroke of robot. 7. Discuss work envelope of a four axis SCARA robot 8. Define Yaw, Pitch, Roll motions of the tool/grippers.

Chapter 2 Direct and Inverse Kinematics

1. Explain D-H algorithm. Develop the D.K. analysis of 4 axis SCARA robot. 2. Explain screw Transformations. 3. Determine the tool configuration vector of SCARA robot, when { { { }T }T }T

4. Derive the three fundamental rotation matrices R1(), R2() and R3() with the help of neat sketch and prove that RPY = YPR About fixed axis About mobile axis Construct the link coordinate diagram using DH algorithm for the SCARA robot and compute the arm matrix and Kinematic parameters. Find the composite rotation matrix by rotating the tool about fixed axis of Frame with a yaw of /3 followed by a pitch of /2 and finally roll of /2 radiance, if [P] M = [0, 0, 0.5] T . Find [P] F. Draw the frame rotations. Explain the significance of TCV vector in the solution of Inverse Kinematic. Discuss the general properties of the solutions of the Inverse Kinematic. Define Tool-Configuration vector? Shows how to obtained tool roll angle qn?

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10. What are the advantages/disadvantages of Numerical approach and Analytical approach to solve the Inverse kinematics problems? 11. Find the position of the tool tip of the Adept one robot when the joint variables are { }
T

Let F = {f1,f2,f3} and M = {m1,m2,m3} be

initially coincident fixed and mobile orthonormal coordinator frames, respectively. Perform screw transformation along f2 axis for = 3 and = and find m3 and determine the pitch of the screw. 12. Explain the conditions for existence of the Inverse kinematics solution? Why the inverse kinematics solutions are not unique? 13. Suppose that [q]m = [0,0,10,1]T represents the homogenous coordinates of a point located 5 units along the third vector of a mobile coordinate frame M. Assume that initially M is coincident with a fixed coordinate frame F. If we rotate the mobile frame M by /6 radian about the first unit vector of F, then determine the resulting homogenous coordinate transformation matrix. Also determine the physical co-ordinates of the point of in the fixed co-ordinate frame F. 14. If F and M are two orthonormal coordinate frames, translated M along axis f2 by three units, rotate M about f3 axis by radians and hence find [m1]F after composite transformation. [m1]m = [1, 0, 0, 1]T. 15. If F and M are two frames coincident initially, after performing a screw transformation along f2 axes of F by a distance of = 3 and rotation by an angle of 90 about f2 axes. Find [m3]F after screw transformation. Also find pitch of the screw [m3]m = [0, 0, 1, 1]T. 16. Why solution of Inverse Kinematics is not unique for generic robots? 17. Determine the tool configuration vector of SCARA robot when q = {/6, /3, 150, /2}T 18. Determine the tool configuration vector of a SCARA Robot when the vector of joint variables is { { 19. , } }

{ } Consider the robotic tool shown in figure.

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20. Sketch the tool positions after each intermediate position of the following YPR operation. Yaw 900 pitch 900. Rotations are performed about the fixed axes of F frame. Find co-ordinate of q w.r.t. to fixed axis. 21. Draw Joint and Link diagram and define : (i) Joint angle, (ii) Joint distance, (iii) Link length, (iv)Link twist angle. Which is the variable parameter for revolute Joint and Prismatic joint. 22. Let F = {f1, f2, f3} and M = {m1, m2, m3} be initially coincident fixed and mobile orthonormal coordinate frames, respectively. Perform screw transformation along f2 axis for = 3 and = /2 and find [m3]F and Determine the pitch of the screw.

Chapter 3 Intelligent Agents

1. 2. 3. 4. 5. 6. 7. 8. 9. Define an agent. What is a rational agent? What is agent program and agent architecture? State the difference between agent function and agent program? Distinguish omniscience and rationality. Explain in detail agent environment. What is a task environment? Describe the various properties of the task environment. What is a PEAS description?

10. Write a PEAS description for an automated taxi? 11. Write a PEAS description for a vacuum cleaner? 12. Write a PEAS description for an Interactive English Tutor System? 13. Explain WUMPUS world environment giving its PEAS description. Explain how percept sequence is generated.

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14. For each of the following agents, develop a PEAS description of the task environment: a. Robot soccer player b. Internet book-shopping agent c. Autonomous Mars rover d. Mathematician's theorem-proving assistant. 15. For each of the following agents, characterize the environment and select a suitable agent design. e. Robot soccer player f. Internet book-shopping agent g. Autonomous Mars rover h. Mathematician's theorem-proving assistant. 16. Write PEAS description for at least four agent types. 17. Explain in detail Model based reflex agent. 18. Explain in detail learning agent. 19. Explain in detail any of the four agent structure. 20. Write the environment characteristics of any four agent type. 21. Explain in detail Simple reflex agent. 22. Explain in detail Model based reflex agent. 23. Explain in detail Goal based reflex agent.
24. Explain in detail Utility based reflex agent.

25. Explain structure of agent that keeps track of the world.

Chapter 5 Problem Solving

1. Consider 8-puzzle problem. Construct state space for above mentioned problem. Draw state space diagram. Write some rules, for performing search in defined state space. 2. 3. What is state space? Give state space representation for water- jug problem. How to define a problem as state space search? Discuss it with the help of an example.

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4.

What are the components of problem formulation? Hence formulate problem for vacuum cleaner, 8-puzzle game & missionaries and cannibals.

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Give the initial state, goal test, successor function, and cost function for each of the following: a. You have to color a planar map using only four colors, in such a way that no two adjacent regions have the same color. b. A 3-foot-tall monkey is in a room where some bananas are suspended from the 8-foot ceiling. He would like to get the bananas. The room contains two stackable, movable, climbable 3foot-high crates. c. You have three jugs, measuring 12 gallons, 8 gallons, and 3 gallons, and a water faucet. You can fill the jugs up or empty them out from one to another or onto the ground. You need to measure out exactly one gallon.

6. 7. 8. 9.

Write an informal description for the general tree search algorithm. Explain the uniformed search strategies with examples. Compare and contrast BFS & DFS. Explain the search strategy developed to overcome the drawbacks of both. Explain A* algorithm.

10. Describe Hill climbing algorithm. What are its limitations? 11. Compare IDA* with A* in terms of time and space complexity. 12. Is hill climbing guaranteed to find a solution to the n-queens problem? 13. Write short notes on the following Depth First Search, breadth first search and uniform cost search. 14. Write short notes on Iterative deepening depth first search. 15. Write short notes on Depth limited search 16. Give an example of a problem for which breadth-first-search would work better than depth-first-search would work better than breadthfirst-search. 17. Describe the Hill Climbing Algorithm. What are the problems in Hill Climbing Algorithms? Suggest methods to overcome them.

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18. Prove that A* search algorithm is complete and optimal among all search algorithms. 19. Write in detail about any two informed search strategies. 20. Consider a 8-puzzle problem and a heuristic function given by taking a sum of the distance of the tiles that are in proper positions. Tiles in proper position have value equal to zero. Using the A* algorithm draw a solution tree for the 8-puzzle problem. 21. Explain the constraint satisfaction problem technique. 22. What are constraint satisfaction problems (CSP)? How can you formulate them as search problems? 23. Discuss the various issues associated with the backtracking search for CSPs. How are they addressed? 24. Trace the constraint satisfaction procedure solving the following crypt arithmetic problem CROSS +ROADS DANGER

Chapter 6 Knowledge and Reasoning

1. Write note on Forward chain algorithm with suitable example. 2. Explain the backward chaining algorithm with suitable example. 3. Represent the fact described by the following sentence as a set of wffs in predicate logic? Marcus tried to assassinate Caesar. 4. Consider following statements John likes all kinds of food Apples are food Chicken is food Anything anyone eats and isnt killed by is food Bill eats peanuts and still alive

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Sue eat everything Bill eats i) Translate above statement into formulas in predicate logic ii) Convert formulas in clause from for given set of statements. iii) Prove John likes peanuts using resolution. 5. Represent the following sentences in first order logic. Jemess father is married to kind Johans mother For all x and all y, if x is the parent of y then y is the child of x There is someone who is loved by every one. There is no one who does not like Ice Cream. Spot has at least two sisters 6. Represent the following sentences in first order logic. (i) Not all students take History and Biology. (ii) Only one student failed both History and Biology. (iii) There is a barber who shaves all men in town who do not shave themselves. (iv) Well, I like sandy and I do not like sandy. (v) One more outburst like that and you will be in contempt of court 7. Explain in detail about the unification with an algorithm in a first order logic 8. Explain Partitioned Semantic nets for the following a. The dog bit the mail carrier b. Every dog has bitten a mail carrier c. Every dog in town has bitten the constable.

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d. Every dog has bitten every mail carrier.

Chapter 7 Uncertain Knowledge and Reasoning

1. 1% of women over age forty who are screened, have breast cancer. 80% of women who really do have breast cancer will have a positive mammography (meaning the test indicates she has cancer). 9.6% of women who do not actually have breast cancer will have a positive mammography (meaning that they are incorrectly diagnosed with cancer). Define two Boolean random variables, M meaning a positive mammography test and ~M meaning a negative test, and C meaning the woman has breast cancer and ~C means she does not. (a) If a woman in this age group gets a positive mammography, what is the probability that she actually has breast cancer? (b) True or False: The "Prior" probability, indicating the percentage of women with breast cancer, is not needed to compute the "Posterior" probability of a woman having breast cancer given a positive mammography. (c) Say a woman who gets a positive mammography test, M1, goes back and gets a second mammography, M2, which also is positive. Use the Naive Bayes assumption to compute the probability that she has breast cancer given the results from these two tests. (d) True or False: P(C | M1, M2) can be calculated in general given only P(C) and P(M1, M2 | C). 2. Consider the following Bayesian Network containing 3 Boolean random variables:

Compute the following quantities: (i) (ii) P(~B, C | A) P(A | ~B, C)

Chapter 8 Learning

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1. What are the types of learning ? 2. State the design issues that affect the learning element. 3. State the factors that play a role in the design of a learning systems. 4. State the decision tree as a performance element. 5. Explain the various forms of learning. 6. How is the learning process in a decision tree? 7. What are the various methods of logical formulation in logical learning?

Chapter 9 Planning
1. How planning problem is represented? Explain with suitable example. 2. Explain partial order planning with the help of example Spare tyre problem. Changing the flat tyre with spare one. 3. Explain knowledge engineering process. 4. Explain the various steps associated with the knowledge engineering process? Discuss them by applying the steps to any real world application of your choice. 5. What are the various ontologies involved in situation calculus? 6. How did you solve the following problems in situation calculus? a. Representational frame problems b. Inferential frame problems. 7. dfa 8. Let us consider a version of the milk/banana/drill shopping problem 9. Let CC denote a credit card that the agent can use to buy any object. Write the description of Buy so that the agent has to have its credit card in order to buy anything. 10. 11. Write a Pick-Up operator that enables the agent to have an object if it Assume that the credit card is at home, but Have(CC) is initially false. is portable and at the same location as the agent. 1 of 2 Construct a partially ordered plan that achieves the goal, showing both ordering constraints and causal links. 12. Explain in detail what happens during the planning process when the agent explores a partial plan in which it leaves home without the card.

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13.

What are decision trees? Draw a decision tree for the problem of

deciding whether or not to move forward at a road intersection given that the light has just turned green. 14. http://www.learningroom.in/compsem7

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